diff --git a/firmware/controllers/algo/obd_error_codes.h b/firmware/controllers/algo/obd_error_codes.h
index ac9cc8ecf7..7b42fd465c 100644
--- a/firmware/controllers/algo/obd_error_codes.h
+++ b/firmware/controllers/algo/obd_error_codes.h
@@ -1698,8 +1698,8 @@ typedef enum {
 	CUSTOM_OBD_INJECTION_NO_PIN_ASSIGNED = 6020,
 	CUSTOM_OBD_UNEXPECTED_INJECTION_MODE = 6021,
 	CUSTOM_OBD_ANGLE_CONSTRAINT_VIOLATION = 6022,
-	CUSTOM_OBD_23 = 6023,
-	CUSTOM_OBD_24 = 6024,
+	CUSTOM_OBD_UNKNOWN_FIRING_ORDER = 6023,
+	CUSTOM_OBD_WRONG_FIRING_ORDER = 6024,
 	CUSTOM_OBD_25 = 6025,
 	CUSTOM_OBD_26 = 6026,
 	CUSTOM_UNEXPECTED_ENGINE_TYPE = 6027,
diff --git a/firmware/hw_layer/adc_inputs.cpp b/firmware/hw_layer/adc_inputs.cpp
index 117dada0e5..a05d626bec 100644
--- a/firmware/hw_layer/adc_inputs.cpp
+++ b/firmware/hw_layer/adc_inputs.cpp
@@ -148,7 +148,7 @@ AdcDevice fastAdc(&adcgrpcfg_fast);
 
 void doSlowAdc(void) {
 
-	efiAssertVoid(getRemainingStack(chThdSelf())> 32, "lwStAdcSlow");
+	efiAssertVoid(getRemainingStack(chThdGetSelfX())> 32, "lwStAdcSlow");
 
 #if EFI_INTERNAL_ADC
 
@@ -156,19 +156,19 @@ void doSlowAdc(void) {
 	 will be executed in parallel to the current PWM cycle and will
 	 terminate before the next PWM cycle.*/
 	slowAdc.conversionCount++;
-	chSysLockFromIsr()
+	chSysLockFromISR()
 	;
 	if (ADC_SLOW_DEVICE.state != ADC_READY &&
 	ADC_SLOW_DEVICE.state != ADC_COMPLETE &&
 	ADC_SLOW_DEVICE.state != ADC_ERROR) {
 		// todo: why and when does this happen? firmwareError(OBD_PCM_Processor_Fault, "ADC slow not ready?");
 		slowAdc.errorsCount++;
-		chSysUnlockFromIsr()
+		chSysUnlockFromISR()
 		;
 		return;
 	}
 	adcStartConversionI(&ADC_SLOW_DEVICE, &adcgrpcfgSlow, slowAdc.samples, ADC_BUF_DEPTH_SLOW);
-	chSysUnlockFromIsr()
+	chSysUnlockFromISR()
 	;
 #endif
 }
@@ -179,7 +179,7 @@ static void pwmpcb_slow(PWMDriver *pwmp) {
 }
 
 static void pwmpcb_fast(PWMDriver *pwmp) {
-	efiAssertVoid(getRemainingStack(chThdSelf())> 32, "lwStAdcFast");
+	efiAssertVoid(getRemainingStack(chThdGetSelfX())> 32, "lwStAdcFast");
 #if EFI_INTERNAL_ADC
 	(void) pwmp;
 
@@ -188,19 +188,19 @@ static void pwmpcb_fast(PWMDriver *pwmp) {
 	 * will be executed in parallel to the current PWM cycle and will
 	 * terminate before the next PWM cycle.
 	 */
-	chSysLockFromIsr()
+	chSysLockFromISR()
 	;
 	if (ADC_FAST_DEVICE.state != ADC_READY &&
 	ADC_FAST_DEVICE.state != ADC_COMPLETE &&
 	ADC_FAST_DEVICE.state != ADC_ERROR) {
 		fastAdc.errorsCount++;
 		// todo: when? why? firmwareError(OBD_PCM_Processor_Fault, "ADC fast not ready?");
-		chSysUnlockFromIsr()
+		chSysUnlockFromISR()
 		;
 		return;
 	}
 	adcStartConversionI(&ADC_FAST_DEVICE, &adcgrpcfg_fast, fastAdc.samples, ADC_BUF_DEPTH_FAST);
-	chSysUnlockFromIsr()
+	chSysUnlockFromISR()
 	;
 	fastAdc.conversionCount++;
 #endif
@@ -483,7 +483,7 @@ static void setAdcDebugReporting(int value) {
 static void adc_callback_slow(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
 	(void) buffer;
 	(void) n;
-	efiAssertVoid(getRemainingStack(chThdSelf()) > 128, "lowstck#9c");
+	efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 128, "lowstck#9c");
 	/* Note, only in the ADC_COMPLETE state because the ADC driver fires
 	 * an intermediate callback when the buffer is half full. */
 	if (adcp->state == ADC_COMPLETE) {
diff --git a/firmware/hw_layer/microsecond_timer.cpp b/firmware/hw_layer/microsecond_timer.cpp
index dc0c504507..54e4197ab8 100644
--- a/firmware/hw_layer/microsecond_timer.cpp
+++ b/firmware/hw_layer/microsecond_timer.cpp
@@ -87,10 +87,10 @@ static void callback(GPTDriver *gptp) {
 //	// test code
 //	setOutputPinValue(LED_CRANKING, timerCallbackCounter % 2);
 //	int mod = timerCallbackCounter % 400;
-//	chSysLockFromIsr()
+//	chSysLockFromISR()
 //	;
 //	setHardwareUsTimer(400 - mod);
-//	chSysUnlockFromIsr()
+//	chSysUnlockFromISR()
 //	;
 
 	globalTimerCallback(NULL);
diff --git a/firmware/rusefi.cpp b/firmware/rusefi.cpp
index f4bdedc98d..913222b023 100644
--- a/firmware/rusefi.cpp
+++ b/firmware/rusefi.cpp
@@ -150,7 +150,7 @@ static void scheduleReboot(void) {
 }
 
 void runRusEfi(void) {
-	efiAssertVoid(getRemainingStack(chThdSelf()) > 512, "init s");
+	efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 512, "init s");
 	assertEngineReference(PASS_ENGINE_PARAMETER_F);
 	initIntermediateLoggingBuffer();
 	initErrorHandling();
@@ -220,7 +220,7 @@ void runRusEfi(void) {
 	 * control is around main_trigger_callback
 	 */
 	while (true) {
-		efiAssertVoid(getRemainingStack(chThdSelf()) > 128, "stack#1");
+		efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 128, "stack#1");
 
 #if (EFI_CLI_SUPPORT && !EFI_UART_ECHO_TEST_MODE) || defined(__DOXYGEN__)
 		// sensor state + all pending messages for our own dev console
@@ -231,7 +231,7 @@ void runRusEfi(void) {
 	}
 }
 
-void chDbgStackOverflowPanic(Thread *otp) {
+void chDbgStackOverflowPanic(thread_t *otp) {
 	strcpy(panicMessage, "stack overflow: ");
 #if defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
 	int p_name_len = strlen(otp->p_name);